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Update encoder_odom_publisher.py

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increased covariance
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bjoernellens1 2025-02-10 11:50:51 +01:00 committed by GitHub
parent 5dc18212ea
commit 9e6053754b
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1 changed files with 13 additions and 6 deletions
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nodes/encoder_odom_publisher.py
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@ -104,12 +104,19 @@ class EncoderOdometry:
# Include Covariance Matrix
# Include covariance
odom.pose.covariance = [0.01, 0, 0, 0, 0, 0,
0, 0.01, 0, 0, 0, 0,
0, 0, 0.01, 0, 0, 0,
0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0.01]
# odom.pose.covariance = [0.01, 0, 0, 0, 0, 0,
# 0, 0.01, 0, 0, 0, 0,
# 0, 0, 0.01, 0, 0, 0,
# 0, 0, 0, 0.01, 0, 0,
# 0, 0, 0, 0, 0.01, 0,
# 0, 0, 0, 0, 0, 0.01]
odom.pose.covariance = [0.1, 0, 0, 0, 0, 0, # Higher uncertainty in x
0, 0.1, 0, 0, 0, 0, # Higher uncertainty in y
0, 0, 0.2, 0, 0, 0, # Higher uncertainty in z (less typical for most robots)
0, 0, 0, 0.5, 0, 0, # Higher uncertainty in roll
0, 0, 0, 0, 0.5, 0, # Higher uncertainty in pitch
0, 0, 0, 0, 0, 0.5] # Higher uncertainty in yaw
# Publish odometry to /odom_new
rospy.logdebug("Publishing Odometry message.")